Regression and mental models for decision making on robotic biped goalkeepers

Joseph G. Masterjohn, Mihai Polceanu, Julian Jarrett, Andreas Seekircher, Cédric Buche, Ubbo E Visser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

We investigate the decision-making and behavior of robotic biped goalkeepers, applied to the RoboCup 3D Soccer Simulation League. We introduce two approaches to the goalkeeper’s behavior: first a heuristics-based approach that uses linear regression and Kalman filters for improved perception, and another based on mental models which uses nonlinear regression for ball trajectory filtering. Our experiments consist of 30,000 kick-and-save tests, using 100 random angle and distance kicks from six distance categories and four angle categories repeated 30 times. Our benchmark results show that both proposed approaches bring significant improvements for the goalkeeper’s save success rates (>200%) and validate the applicability of the novel mental model based decisionmaking process.

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages177-189
Number of pages13
Volume9513
ISBN (Print)9783319293387
DOIs
StatePublished - 2015
Event19th Annual RoboCup International Symposium, 2015 - Hefei, China
Duration: Jul 23 2015Jul 23 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9513
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other19th Annual RoboCup International Symposium, 2015
CountryChina
CityHefei
Period7/23/157/23/15

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • Cite this

    Masterjohn, J. G., Polceanu, M., Jarrett, J., Seekircher, A., Buche, C., & Visser, U. E. (2015). Regression and mental models for decision making on robotic biped goalkeepers. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9513, pp. 177-189). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9513). Springer Verlag. https://doi.org/10.1007/978-3-319-29339-4_15